JAKA Robot - Chapter 6 Detailed Introduction; 6.1 Overview; 6.2 Function Application; 6.2.1 Electrical Service Requirements

JAKA Zu MiniCab v1.1 23
MiniCab handle interface is defined as follows
(1)
,
Table 5-3 Definition of Handle Interface
Pin Serial
No.
Signal
Signal Type
Description
1
24V
PO
Handle power output
2
PBn
I
3.3V logic signal input, low level trigger
controller switch operation
3
BP_CANL
IO
Handle and controller communication CAN
signal
4
BP_CANH
IO
Handle and controller communication CAN
signal
5
ESTOP_BP_C1
PO
Connected to pin 1 internally (24V)
6
ESTOP_BP_PC1
I
24V logic input, high level indicates that
emergency stop is normal.
7
ESTOP_BP_C2
PO
Connected to pin 1 internally (24V)
8
ESTOP_BP_PC2
I
24V logic input, high level indicates that
emergency stop is normal.
9
Reserved
-
System reservation
10
GND
PO
Logic ground
Note:
(1) Only used to connect JAKA Zu BP handle. External interface cannot be modified arbitrarily.
5.1.3 Emergency Stop Interface (E-STOP)
Figure 5-4 Diagram of E-STOP Interface
The external E-STOP input interface adopts double rows of 3.5mm spacing interchangeable wiring
terminals. In case of external emergency stop, the Pin1, Pin2, Pin3 and Pin4 shall be short-connected by wires.
The factory-default setting is short connection. Interface definitions are as follows:
Table 5-4 Pin Definitions of E-STOP Interface
Pin Serial
No.
Signal
Signal
Type
Description
1
VCC_24V
PO
Internal logic power 24V output
2
ESTOP1
I
E-STOP input 1, default short connected to PIN1
3
VCC_24V
PO
Internal logic power 24V output
4
ESTOP2
I
E-STOP input 2, default short connected to PIN3